Trotting Control of Load-Carrying Quadruped Walking Vehicle with Load Variations Based on the Centroidal Dynamics and Adaptive Sliding Mode Control

Table 1

Parameters of the walking vehicle.

Parameters	Description of parameters	Value
(kg)	Torso mass (without load)	150
2n (m)	Distance between the origins of forward and rear leg-based coordinate frames	0.95
(m)	Distance between origins of leftward and rightward leg-based coordinate frames	0.35
h (m)	Vertical distance between the barycentric coordinate frame and leg-based coordinate frame	0.09
(kg)	Mass of lateral-swing segment	6
(kg)	Thigh mass	4.5
(kg)	Shank mass	4.5
(m)	Length of lateral-swing segment	0.085
(m)	Thigh length	0.31
(m)	Shank length	0.3